#ifndef __MOTO_H
#define __MOTO_H




#include "main.h"

#define pai 3.1415926535f

typedef struct Planner
{
   float acc_percent;
   float dec_percent;
   float Last_set_pos;
   float Last_pos;
   float All_Err;
   
}Planner;

extern Planner sPlanner[3];


void Moto_stace_clear(pid_control *moto);

float Moto_path_planning(Planner *sPlanner,float pos,float threshold,float min_speed,float max_speed,float set_pos );

void Moto_planning_Init(Planner *sPlanner,float acc,float dec);


#endif





